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<meta property="og:description" content="ICP 配准交互式演示这是一个 交互式 ICP 配准演示程序，它允许用户通过按空格键，逐步观察 ICP 算法的收敛过程。  1. 程序流程 加载点云：从 .ply 文件加载一个点云。 施加初始变换：对点云施加一个已知的刚体变换（旋转+平移）。 执行 ICP：将变换后的点云与原始点云进行配准。 交互式迭代：用户按空格键，程序执行一次 ICP 迭代，并更新可视化。 可视化：双视口对比显示配准过程。">
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<hr>
<h2 id="1-程序流程"><a href="#1-程序流程" class="headerlink" title="1. 程序流程"></a>1. 程序流程</h2><ol>
<li><strong>加载点云</strong>：从 <code>.ply</code> 文件加载一个点云。</li>
<li><strong>施加初始变换</strong>：对点云施加一个已知的刚体变换（旋转+平移）。</li>
<li><strong>执行 ICP</strong>：将变换后的点云与原始点云进行配准。</li>
<li><strong>交互式迭代</strong>：用户按空格键，程序执行一次 ICP 迭代，并更新可视化。</li>
<li><strong>可视化</strong>：双视口对比显示配准过程。</li>
</ol>
<hr>
<h2 id="2-核心功能详解"><a href="#2-核心功能详解" class="headerlink" title="2. 核心功能详解"></a>2. 核心功能详解</h2><h3 id="2-1-初始变换"><a href="#2-1-初始变换" class="headerlink" title="2.1 初始变换"></a>2.1 初始变换</h3><ul>
<li>程序构造了一个绕 Z 轴旋转 <code>π/20</code> (9°) 的 <strong>旋转矩阵</strong>。</li>
<li>该变换被应用于原始点云，生成一个“失准”的点云作为 ICP 的输入。</li>
<li>变换矩阵通过 <code>print4x4Matrix()</code> 函数在终端输出。</li>
</ul>
<h3 id="2-2-ICP-配准"><a href="#2-2-ICP-配准" class="headerlink" title="2.2 ICP 配准"></a>2.2 ICP 配准</h3><ul>
<li>使用 <code>pcl::IterativeClosestPoint</code> 算法。</li>
<li><strong>源点云</strong> (<code>setInputSource</code>)：被变换过的点云 <code>cloud_icp</code>。</li>
<li><strong>目标点云</strong> (<code>setInputTarget</code>)：原始点云 <code>cloud_in</code>。</li>
<li><code>align()</code> 函数执行配准，将 <code>cloud_icp</code> 不断变换以接近 <code>cloud_in</code>。</li>
</ul>
<h3 id="2-3-交互式控制"><a href="#2-3-交互式控制" class="headerlink" title="2.3 交互式控制"></a>2.3 交互式控制</h3><ul>
<li><strong>键盘回调</strong>：<code>keyboardEventOccurred</code> 函数监听空格键。</li>
<li><strong>全局标志</strong>：<code>next_iteration</code> 变量作为触发信号。</li>
<li><strong>主循环</strong>：<code>while (!viewer.wasStopped())</code> 中检查 <code>next_iteration</code>，决定是否执行下一次 <code>icp.align()</code>。</li>
</ul>
<h3 id="2-4-可视化设计"><a href="#2-4-可视化设计" class="headerlink" title="2.4 可视化设计"></a>2.4 可视化设计</h3><table>
<thead>
<tr>
<th>视口</th>
<th>内容</th>
<th>颜色</th>
</tr>
</thead>
<tbody><tr>
<td><strong>左 (v1)</strong></td>
<td>原始点云 + 初始变换点云</td>
<td>白色 + 绿色</td>
</tr>
<tr>
<td><strong>右 (v2)</strong></td>
<td>原始点云 + ICP 配准结果</td>
<td>白色 + 红色</td>
</tr>
</tbody></table>
<ul>
<li><strong>文字说明</strong>：清晰标注每个点云的含义。</li>
<li><strong>动态更新</strong>：每次迭代后，更新迭代次数文本和配准后的点云显示。</li>
</ul>
<hr>
<h2 id="3-关键参数"><a href="#3-关键参数" class="headerlink" title="3. 关键参数"></a>3. 关键参数</h2><table>
<thead>
<tr>
<th>参数</th>
<th>说明</th>
</tr>
</thead>
<tbody><tr>
<td><code>setMaximumIterations()</code></td>
<td>控制 ICP 每次执行的最大迭代次数。首次可设为 N，后续设为 1。</td>
</tr>
<tr>
<td><code>getFitnessScore()</code></td>
<td>均方距离误差，值越小表示配准越好。</td>
</tr>
<tr>
<td><code>getFinalTransformation()</code></td>
<td>返回本次迭代的增量变换矩阵。</td>
</tr>
</tbody></table>
<hr>
<h2 id="代码实现"><a href="#代码实现" class="headerlink" title="代码实现"></a>代码实现</h2><figure class="highlight c++"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span 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class="line">120</span><br><span class="line">121</span><br><span class="line">122</span><br><span class="line">123</span><br><span class="line">124</span><br><span class="line">125</span><br><span class="line">126</span><br><span class="line">127</span><br><span class="line">128</span><br><span class="line">129</span><br><span class="line">130</span><br><span class="line">131</span><br><span class="line">132</span><br><span class="line">133</span><br><span class="line">134</span><br><span class="line">135</span><br><span class="line">136</span><br><span class="line">137</span><br><span class="line">138</span><br><span class="line">139</span><br><span class="line">140</span><br><span class="line">141</span><br><span class="line">142</span><br><span class="line">143</span><br><span class="line">144</span><br><span class="line">145</span><br><span class="line">146</span><br><span class="line">147</span><br><span class="line">148</span><br><span class="line">149</span><br><span class="line">150</span><br><span class="line">151</span><br><span class="line">152</span><br><span class="line">153</span><br><span class="line">154</span><br><span class="line">155</span><br><span class="line">156</span><br><span class="line">157</span><br><span class="line">158</span><br><span class="line">159</span><br><span class="line">160</span><br><span class="line">161</span><br><span class="line">162</span><br><span class="line">163</span><br><span class="line">164</span><br><span class="line">165</span><br><span class="line">166</span><br><span class="line">167</span><br><span class="line">168</span><br><span class="line">169</span><br><span class="line">170</span><br><span class="line">171</span><br><span class="line">172</span><br><span class="line">173</span><br><span class="line">174</span><br><span class="line">175</span><br><span class="line">176</span><br><span class="line">177</span><br><span class="line">178</span><br><span class="line">179</span><br><span class="line">180</span><br><span class="line">181</span><br><span class="line">182</span><br><span class="line">183</span><br><span class="line">184</span><br><span class="line">185</span><br><span class="line">186</span><br><span class="line">187</span><br><span class="line">188</span><br><span class="line">189</span><br><span class="line">190</span><br><span class="line">191</span><br><span class="line">192</span><br><span class="line">193</span><br><span class="line">194</span><br></pre></td><td class="code"><pre><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;iostream&gt;</span></span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;string&gt;</span></span></span><br><span class="line"></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;pcl/io/ply_io.h&gt;</span>                        <span class="comment">// PLY 文件读取</span></span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;pcl/point_types.h&gt;</span>                      <span class="comment">// 点类型定义</span></span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;pcl/registration/icp.h&gt;</span>                 <span class="comment">// ICP 配准算法</span></span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;pcl/visualization/pcl_visualizer.h&gt;</span>     <span class="comment">// PCL 可视化</span></span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;pcl/console/time.h&gt;</span>                     <span class="comment">// TicToc 计时器</span></span></span><br><span class="line"></span><br><span class="line"><span class="comment">// 定义点类型别名</span></span><br><span class="line"><span class="keyword">typedef</span> pcl::PointXYZ PointT;</span><br><span class="line"><span class="keyword">typedef</span> pcl::PointCloud&lt;PointT&gt; PointCloudT;</span><br><span class="line"></span><br><span class="line"><span class="comment">// 全局变量：用于键盘回调触发下一次 ICP 迭代</span></span><br><span class="line"><span class="type">bool</span> next_iteration = <span class="literal">false</span>;</span><br><span class="line"></span><br><span class="line"><span class="comment">// 打印 4x4 变换矩阵的函数</span></span><br><span class="line"><span class="function"><span class="type">void</span> <span class="title">print4x4Matrix</span> <span class="params">(<span class="type">const</span> Eigen::Matrix4d &amp; matrix)</span></span></span><br><span class="line"><span class="function"></span>&#123;</span><br><span class="line">  <span class="built_in">printf</span> (<span class="string">&quot;Rotation matrix :\n&quot;</span>);</span><br><span class="line">  <span class="built_in">printf</span> (<span class="string">&quot;    | %6.3f %6.3f %6.3f | \n&quot;</span>, <span class="built_in">matrix</span> (<span class="number">0</span>, <span class="number">0</span>), <span class="built_in">matrix</span> (<span class="number">0</span>, <span class="number">1</span>), <span class="built_in">matrix</span> (<span class="number">0</span>, <span class="number">2</span>));</span><br><span class="line">  <span class="built_in">printf</span> (<span class="string">&quot;R = | %6.3f %6.3f %6.3f | \n&quot;</span>, <span class="built_in">matrix</span> (<span class="number">1</span>, <span class="number">0</span>), <span class="built_in">matrix</span> (<span class="number">1</span>, <span class="number">1</span>), <span class="built_in">matrix</span> (<span class="number">1</span>, <span class="number">2</span>));</span><br><span class="line">  <span class="built_in">printf</span> (<span class="string">&quot;    | %6.3f %6.3f %6.3f | \n&quot;</span>, <span class="built_in">matrix</span> (<span class="number">2</span>, <span class="number">0</span>), <span class="built_in">matrix</span> (<span class="number">2</span>, <span class="number">1</span>), <span class="built_in">matrix</span> (<span class="number">2</span>, <span class="number">2</span>));</span><br><span class="line">  <span class="built_in">printf</span> (<span class="string">&quot;Translation vector :\n&quot;</span>);</span><br><span class="line">  <span class="built_in">printf</span> (<span class="string">&quot;t = &lt; %6.3f, %6.3f, %6.3f &gt;\n\n&quot;</span>, <span class="built_in">matrix</span> (<span class="number">0</span>, <span class="number">3</span>), <span class="built_in">matrix</span> (<span class="number">1</span>, <span class="number">3</span>), <span class="built_in">matrix</span> (<span class="number">2</span>, <span class="number">3</span>));</span><br><span class="line">&#125;</span><br><span class="line"></span><br><span class="line"><span class="comment">// 键盘事件回调函数</span></span><br><span class="line"><span class="function"><span class="type">void</span> <span class="title">keyboardEventOccurred</span> <span class="params">(<span class="type">const</span> pcl::visualization::KeyboardEvent&amp; event, <span class="type">void</span>* nothing)</span></span></span><br><span class="line"><span class="function"></span>&#123;</span><br><span class="line">  <span class="comment">// 当按下空格键时，触发下一次 ICP 迭代</span></span><br><span class="line">  <span class="keyword">if</span> (event.<span class="built_in">getKeySym</span> () == <span class="string">&quot;space&quot;</span> &amp;&amp; event.<span class="built_in">keyDown</span> ())</span><br><span class="line">    next_iteration = <span class="literal">true</span>;</span><br><span class="line">&#125;</span><br><span class="line"></span><br><span class="line"><span class="function"><span class="type">int</span> <span class="title">main</span> <span class="params">(<span class="type">int</span> argc, <span class="type">char</span>* argv[])</span></span></span><br><span class="line"><span class="function"></span>&#123;</span><br><span class="line">  <span class="comment">// 创建点云指针</span></span><br><span class="line">  <span class="function">PointCloudT::Ptr <span class="title">cloud_in</span> <span class="params">(<span class="keyword">new</span> PointCloudT)</span></span>;   <span class="comment">// 原始点云（目标）</span></span><br><span class="line">  <span class="function">PointCloudT::Ptr <span class="title">cloud_tr</span> <span class="params">(<span class="keyword">new</span> PointCloudT)</span></span>;   <span class="comment">// 经过初始变换的点云</span></span><br><span class="line">  <span class="function">PointCloudT::Ptr <span class="title">cloud_icp</span> <span class="params">(<span class="keyword">new</span> PointCloudT)</span></span>;  <span class="comment">// ICP 配准过程中的点云</span></span><br><span class="line"></span><br><span class="line">  <span class="comment">// 检查输入参数</span></span><br><span class="line">  <span class="keyword">if</span> (argc &lt; <span class="number">2</span>)</span><br><span class="line">  &#123;</span><br><span class="line">    <span class="built_in">printf</span> (<span class="string">&quot;Usage :\n&quot;</span>);</span><br><span class="line">    <span class="built_in">printf</span> (<span class="string">&quot;\t\t%s file.ply number_of_ICP_iterations\n&quot;</span>, argv[<span class="number">0</span>]);</span><br><span class="line">    <span class="built_in">PCL_ERROR</span> (<span class="string">&quot;Provide one ply file.\n&quot;</span>);</span><br><span class="line">    <span class="keyword">return</span> (<span class="number">-1</span>);</span><br><span class="line">  &#125;</span><br><span class="line"></span><br><span class="line">  <span class="type">int</span> iterations = <span class="number">1</span>;  <span class="comment">// 默认 ICP 迭代次数</span></span><br><span class="line">  <span class="keyword">if</span> (argc &gt; <span class="number">2</span>)</span><br><span class="line">  &#123;</span><br><span class="line">    iterations = <span class="built_in">atoi</span> (argv[<span class="number">2</span>]); <span class="comment">// 将字符串转换为整数</span></span><br><span class="line">    <span class="keyword">if</span> (iterations &lt; <span class="number">1</span>)</span><br><span class="line">    &#123;</span><br><span class="line">      <span class="built_in">PCL_ERROR</span> (<span class="string">&quot;Number of initial iterations must be &gt;= 1\n&quot;</span>);</span><br><span class="line">      <span class="keyword">return</span> (<span class="number">-1</span>);</span><br><span class="line">    &#125;</span><br><span class="line">  &#125;</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 计时并加载 PLY 文件</span></span><br><span class="line">  pcl::console::TicToc time;</span><br><span class="line">  time.<span class="built_in">tic</span> ();</span><br><span class="line">  <span class="keyword">if</span> (pcl::io::<span class="built_in">loadPLYFile</span> (argv[<span class="number">1</span>], *cloud_in) &lt; <span class="number">0</span>)</span><br><span class="line">  &#123;</span><br><span class="line">    <span class="built_in">PCL_ERROR</span> (<span class="string">&quot;Error loading cloud %s.\n&quot;</span>, argv[<span class="number">1</span>]);</span><br><span class="line">    <span class="keyword">return</span> (<span class="number">-1</span>);</span><br><span class="line">  &#125;</span><br><span class="line">  std::cout &lt;&lt; <span class="string">&quot;\nLoaded file &quot;</span> &lt;&lt; argv[<span class="number">1</span>] &lt;&lt; <span class="string">&quot; (&quot;</span> &lt;&lt; cloud_in-&gt;<span class="built_in">size</span> () &lt;&lt; <span class="string">&quot; points) in &quot;</span> &lt;&lt; time.<span class="built_in">toc</span> () &lt;&lt; <span class="string">&quot; ms\n&quot;</span> &lt;&lt; std::endl;</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 定义一个 4x4 的单位变换矩阵</span></span><br><span class="line">  Eigen::Matrix4d transformation_matrix = Eigen::Matrix4d::<span class="built_in">Identity</span> ();</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 构造一个绕 Z 轴旋转的旋转矩阵 (theta = PI/20)</span></span><br><span class="line">  <span class="type">double</span> theta = M_PI / <span class="number">20</span>;  </span><br><span class="line">  <span class="built_in">transformation_matrix</span> (<span class="number">0</span>, <span class="number">0</span>) = <span class="built_in">cos</span> (theta);</span><br><span class="line">  <span class="built_in">transformation_matrix</span> (<span class="number">0</span>, <span class="number">1</span>) = -<span class="built_in">sin</span> (theta);</span><br><span class="line">  <span class="built_in">transformation_matrix</span> (<span class="number">1</span>, <span class="number">0</span>) = <span class="built_in">sin</span> (theta);</span><br><span class="line">  <span class="built_in">transformation_matrix</span> (<span class="number">1</span>, <span class="number">1</span>) = <span class="built_in">cos</span> (theta);</span><br><span class="line">  <span class="comment">// 平移部分保持为 0</span></span><br><span class="line"></span><br><span class="line">  <span class="comment">// 输出初始变换矩阵</span></span><br><span class="line">  std::cout &lt;&lt; <span class="string">&quot;Applying this rigid transformation to: cloud_in -&gt; cloud_icp&quot;</span> &lt;&lt; std::endl;</span><br><span class="line">  <span class="built_in">print4x4Matrix</span> (transformation_matrix);</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 执行初始变换：将 cloud_in 变换后存入 cloud_icp</span></span><br><span class="line">  pcl::<span class="built_in">transformPointCloud</span> (*cloud_in, *cloud_icp, transformation_matrix);</span><br><span class="line">  *cloud_tr = *cloud_icp;  <span class="comment">// 保存变换后的点云，用于可视化</span></span><br><span class="line"></span><br><span class="line">  <span class="comment">// 设置并执行第一次 ICP 配准</span></span><br><span class="line">  time.<span class="built_in">tic</span> ();</span><br><span class="line">  pcl::IterativeClosestPoint&lt;PointT, PointT&gt; icp;</span><br><span class="line">  icp.<span class="built_in">setMaximumIterations</span> (iterations);         <span class="comment">// 设置最大迭代次数</span></span><br><span class="line">  icp.<span class="built_in">setInputSource</span> (cloud_icp);                <span class="comment">// 设置源点云（待配准）</span></span><br><span class="line">  icp.<span class="built_in">setInputTarget</span> (cloud_in);                 <span class="comment">// 设置目标点云（配准到）</span></span><br><span class="line">  icp.<span class="built_in">align</span> (*cloud_icp);                        <span class="comment">// 执行配准，结果存回 cloud_icp</span></span><br><span class="line">  icp.<span class="built_in">setMaximumIterations</span> (<span class="number">1</span>);                  <span class="comment">// 之后每次只迭代1次</span></span><br><span class="line">  std::cout &lt;&lt; <span class="string">&quot;Applied &quot;</span> &lt;&lt; iterations &lt;&lt; <span class="string">&quot; ICP iteration(s) in &quot;</span> &lt;&lt; time.<span class="built_in">toc</span> () &lt;&lt; <span class="string">&quot; ms&quot;</span> &lt;&lt; std::endl;</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 检查配准是否收敛</span></span><br><span class="line">  <span class="keyword">if</span> (icp.<span class="built_in">hasConverged</span> ())</span><br><span class="line">  &#123;</span><br><span class="line">    std::cout &lt;&lt; <span class="string">&quot;\nICP has converged, score is &quot;</span> &lt;&lt; icp.<span class="built_in">getFitnessScore</span> () &lt;&lt; std::endl;</span><br><span class="line">    std::cout &lt;&lt; <span class="string">&quot;\nICP transformation &quot;</span> &lt;&lt; iterations &lt;&lt; <span class="string">&quot; : cloud_icp -&gt; cloud_in&quot;</span> &lt;&lt; std::endl;</span><br><span class="line">    transformation_matrix = icp.<span class="built_in">getFinalTransformation</span> ().<span class="built_in">cast</span>&lt;<span class="type">double</span>&gt;();</span><br><span class="line">    <span class="built_in">print4x4Matrix</span> (transformation_matrix);</span><br><span class="line">  &#125;</span><br><span class="line">  <span class="keyword">else</span></span><br><span class="line">  &#123;</span><br><span class="line">    <span class="built_in">PCL_ERROR</span> (<span class="string">&quot;\nICP has not converged.\n&quot;</span>);</span><br><span class="line">    <span class="keyword">return</span> (<span class="number">-1</span>);</span><br><span class="line">  &#125;</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 可视化部分</span></span><br><span class="line">  pcl::<span class="function">visualization::PCLVisualizer <span class="title">viewer</span> <span class="params">(<span class="string">&quot;ICP demo&quot;</span>)</span></span>;</span><br><span class="line">  <span class="function"><span class="type">int</span> <span class="title">v1</span> <span class="params">(<span class="number">0</span>)</span>, <span class="title">v2</span> <span class="params">(<span class="number">1</span>)</span></span>;</span><br><span class="line">  viewer.<span class="built_in">createViewPort</span> (<span class="number">0.0</span>, <span class="number">0.0</span>, <span class="number">0.5</span>, <span class="number">1.0</span>, v1); <span class="comment">// 创建左视口</span></span><br><span class="line">  viewer.<span class="built_in">createViewPort</span> (<span class="number">0.5</span>, <span class="number">0.0</span>, <span class="number">1.0</span>, <span class="number">1.0</span>, v2); <span class="comment">// 创建右视口</span></span><br><span class="line"></span><br><span class="line">  <span class="type">float</span> bckgr_gray_level = <span class="number">0.0</span>;  <span class="comment">// 背景为黑色</span></span><br><span class="line">  <span class="type">float</span> txt_gray_lvl = <span class="number">1.0</span> - bckgr_gray_level; <span class="comment">// 文字为白色</span></span><br><span class="line"></span><br><span class="line">  <span class="comment">// 左视口：显示原始点云（白）和初始变换点云（绿）</span></span><br><span class="line">  pcl::<span class="function">visualization::PointCloudColorHandlerCustom&lt;PointT&gt; <span class="title">cloud_in_color_h</span> <span class="params">(cloud_in, (<span class="type">int</span>)<span class="number">255</span>*txt_gray_lvl, (<span class="type">int</span>)<span class="number">255</span>*txt_gray_lvl, (<span class="type">int</span>)<span class="number">255</span>*txt_gray_lvl)</span></span>;</span><br><span class="line">  viewer.<span class="built_in">addPointCloud</span> (cloud_in, cloud_in_color_h, <span class="string">&quot;cloud_in_v1&quot;</span>, v1);</span><br><span class="line">  viewer.<span class="built_in">addPointCloud</span> (cloud_in, cloud_in_color_h, <span class="string">&quot;cloud_in_v2&quot;</span>, v2); <span class="comment">// 右视口也显示原始点云</span></span><br><span class="line"></span><br><span class="line">  pcl::<span class="function">visualization::PointCloudColorHandlerCustom&lt;PointT&gt; <span class="title">cloud_tr_color_h</span> <span class="params">(cloud_tr, <span class="number">20</span>, <span class="number">180</span>, <span class="number">20</span>)</span></span>;</span><br><span class="line">  viewer.<span class="built_in">addPointCloud</span> (cloud_tr, cloud_tr_color_h, <span class="string">&quot;cloud_tr_v1&quot;</span>, v1); <span class="comment">// 左视口显示绿色</span></span><br><span class="line"></span><br><span class="line">  <span class="comment">// 右视口：显示 ICP 配准结果（红）</span></span><br><span class="line">  pcl::<span class="function">visualization::PointCloudColorHandlerCustom&lt;PointT&gt; <span class="title">cloud_icp_color_h</span> <span class="params">(cloud_icp, <span class="number">180</span>, <span class="number">20</span>, <span class="number">20</span>)</span></span>;</span><br><span class="line">  viewer.<span class="built_in">addPointCloud</span> (cloud_icp, cloud_icp_color_h, <span class="string">&quot;cloud_icp_v2&quot;</span>, v2);</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 添加文字说明</span></span><br><span class="line">  viewer.<span class="built_in">addText</span> (<span class="string">&quot;White: Original point cloud\nGreen: Matrix transformed point cloud&quot;</span>, <span class="number">10</span>, <span class="number">15</span>, <span class="number">16</span>, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, <span class="string">&quot;icp_info_1&quot;</span>, v1);</span><br><span class="line">  viewer.<span class="built_in">addText</span> (<span class="string">&quot;White: Original point cloud\nRed: ICP aligned point cloud&quot;</span>, <span class="number">10</span>, <span class="number">15</span>, <span class="number">16</span>, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, <span class="string">&quot;icp_info_2&quot;</span>, v2);</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 显示当前迭代次数</span></span><br><span class="line">  std::stringstream ss;</span><br><span class="line">  ss &lt;&lt; iterations;</span><br><span class="line">  std::string iterations_cnt = <span class="string">&quot;ICP iterations = &quot;</span> + ss.<span class="built_in">str</span> ();</span><br><span class="line">  viewer.<span class="built_in">addText</span> (iterations_cnt, <span class="number">10</span>, <span class="number">60</span>, <span class="number">16</span>, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, <span class="string">&quot;iterations_cnt&quot;</span>, v2);</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 设置背景色</span></span><br><span class="line">  viewer.<span class="built_in">setBackgroundColor</span> (bckgr_gray_level, bckgr_gray_level, bckgr_gray_level, v1);</span><br><span class="line">  viewer.<span class="built_in">setBackgroundColor</span> (bckgr_gray_level, bckgr_gray_level, bckgr_gray_level, v2);</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 设置相机位置</span></span><br><span class="line">  viewer.<span class="built_in">setCameraPosition</span> (<span class="number">-3.68332</span>, <span class="number">2.94092</span>, <span class="number">5.71266</span>, <span class="number">0.289847</span>, <span class="number">0.921947</span>, <span class="number">-0.256907</span>, <span class="number">0</span>);</span><br><span class="line">  viewer.<span class="built_in">setSize</span> (<span class="number">1280</span>, <span class="number">1024</span>);  <span class="comment">// 设置窗口大小</span></span><br><span class="line"></span><br><span class="line">  <span class="comment">// 注册键盘回调函数</span></span><br><span class="line">  viewer.<span class="built_in">registerKeyboardCallback</span> (&amp;keyboardEventOccurred, (<span class="type">void</span>*) <span class="literal">NULL</span>);</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 主循环</span></span><br><span class="line">  <span class="keyword">while</span> (!viewer.<span class="built_in">wasStopped</span> ())</span><br><span class="line">  &#123;</span><br><span class="line">    viewer.<span class="built_in">spinOnce</span> (); <span class="comment">// 刷新可视化</span></span><br><span class="line"></span><br><span class="line">    <span class="comment">// 如果用户按下了空格键</span></span><br><span class="line">    <span class="keyword">if</span> (next_iteration)</span><br><span class="line">    &#123;</span><br><span class="line">      time.<span class="built_in">tic</span> ();</span><br><span class="line">      icp.<span class="built_in">align</span> (*cloud_icp); <span class="comment">// 再执行一次 ICP 迭代</span></span><br><span class="line">      std::cout &lt;&lt; <span class="string">&quot;Applied 1 ICP iteration in &quot;</span> &lt;&lt; time.<span class="built_in">toc</span> () &lt;&lt; <span class="string">&quot; ms&quot;</span> &lt;&lt; std::endl;</span><br><span class="line"></span><br><span class="line">      <span class="keyword">if</span> (icp.<span class="built_in">hasConverged</span> ())</span><br><span class="line">      &#123;</span><br><span class="line">        <span class="built_in">printf</span> (<span class="string">&quot;\033[11A&quot;</span>);  <span class="comment">// 光标上移11行，用于刷新终端输出</span></span><br><span class="line">        <span class="built_in">printf</span> (<span class="string">&quot;\nICP has converged, score is %+.0e\n&quot;</span>, icp.<span class="built_in">getFitnessScore</span> ());</span><br><span class="line">        std::cout &lt;&lt; <span class="string">&quot;\nICP transformation &quot;</span> &lt;&lt; ++iterations &lt;&lt; <span class="string">&quot; : cloud_icp -&gt; cloud_in&quot;</span> &lt;&lt; std::endl;</span><br><span class="line">        transformation_matrix *= icp.<span class="built_in">getFinalTransformation</span> ().<span class="built_in">cast</span>&lt;<span class="type">double</span>&gt;(); <span class="comment">// 累积变换矩阵</span></span><br><span class="line">        <span class="built_in">print4x4Matrix</span> (transformation_matrix);</span><br><span class="line"></span><br><span class="line">        <span class="comment">// 更新可视化中的迭代次数文本</span></span><br><span class="line">        ss.<span class="built_in">str</span> (<span class="string">&quot;&quot;</span>);</span><br><span class="line">        ss &lt;&lt; iterations;</span><br><span class="line">        std::string iterations_cnt = <span class="string">&quot;ICP iterations = &quot;</span> + ss.<span class="built_in">str</span> ();</span><br><span class="line">        viewer.<span class="built_in">updateText</span> (iterations_cnt, <span class="number">10</span>, <span class="number">60</span>, <span class="number">16</span>, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, <span class="string">&quot;iterations_cnt&quot;</span>);</span><br><span class="line">        viewer.<span class="built_in">updatePointCloud</span> (cloud_icp, cloud_icp_color_h, <span class="string">&quot;cloud_icp_v2&quot;</span>); <span class="comment">// 更新点云显示</span></span><br><span class="line">      &#125;</span><br><span class="line">      <span class="keyword">else</span></span><br><span class="line">      &#123;</span><br><span class="line">        <span class="built_in">PCL_ERROR</span> (<span class="string">&quot;\nICP has not converged.\n&quot;</span>);</span><br><span class="line">        <span class="keyword">return</span> (<span class="number">-1</span>);</span><br><span class="line">      &#125;</span><br><span class="line">    &#125;</span><br><span class="line">    next_iteration = <span class="literal">false</span>; <span class="comment">// 重置标志</span></span><br><span class="line">  &#125;</span><br><span class="line">  <span class="keyword">return</span> (<span class="number">0</span>);</span><br><span class="line">&#125;</span><br></pre></td></tr></table></figure>

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</article><div class="post-copyright"><div class="post-copyright__author"><span class="post-copyright-meta"><i class="fas fa-circle-user fa-fw"></i>文章作者: </span><span class="post-copyright-info"><a href="https://ckyfi9zero.github.io">Fi9zero</a></span></div><div class="post-copyright__type"><span class="post-copyright-meta"><i class="fas fa-square-arrow-up-right fa-fw"></i>文章链接: </span><span class="post-copyright-info"><a href="https://ckyfi9zero.github.io/2025/08/04/2025-08-04-%E4%BA%A4%E4%BA%92%E5%BC%8F%E8%BF%AD%E4%BB%A3%E6%9C%80%E8%BF%91%E7%82%B9%E9%85%8D%E5%87%86/">https://ckyfi9zero.github.io/2025/08/04/2025-08-04-%E4%BA%A4%E4%BA%92%E5%BC%8F%E8%BF%AD%E4%BB%A3%E6%9C%80%E8%BF%91%E7%82%B9%E9%85%8D%E5%87%86/</a></span></div><div class="post-copyright__notice"><span class="post-copyright-meta"><i class="fas fa-circle-exclamation fa-fw"></i>版权声明: </span><span class="post-copyright-info">本博客所有文章除特别声明外，均采用 <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/" target="_blank">CC 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class="toc-item toc-level-1"><a class="toc-link" href="#ICP-%E9%85%8D%E5%87%86%E4%BA%A4%E4%BA%92%E5%BC%8F%E6%BC%94%E7%A4%BA"><span class="toc-number">1.</span> <span class="toc-text">ICP 配准交互式演示</span></a><ol class="toc-child"><li class="toc-item toc-level-2"><a class="toc-link" href="#1-%E7%A8%8B%E5%BA%8F%E6%B5%81%E7%A8%8B"><span class="toc-number">1.1.</span> <span class="toc-text">1. 程序流程</span></a></li><li class="toc-item toc-level-2"><a class="toc-link" href="#2-%E6%A0%B8%E5%BF%83%E5%8A%9F%E8%83%BD%E8%AF%A6%E8%A7%A3"><span class="toc-number">1.2.</span> <span class="toc-text">2. 核心功能详解</span></a><ol class="toc-child"><li class="toc-item toc-level-3"><a class="toc-link" href="#2-1-%E5%88%9D%E5%A7%8B%E5%8F%98%E6%8D%A2"><span class="toc-number">1.2.1.</span> <span class="toc-text">2.1 初始变换</span></a></li><li class="toc-item toc-level-3"><a class="toc-link" href="#2-2-ICP-%E9%85%8D%E5%87%86"><span class="toc-number">1.2.2.</span> <span class="toc-text">2.2 ICP 配准</span></a></li><li class="toc-item toc-level-3"><a class="toc-link" href="#2-3-%E4%BA%A4%E4%BA%92%E5%BC%8F%E6%8E%A7%E5%88%B6"><span class="toc-number">1.2.3.</span> <span class="toc-text">2.3 交互式控制</span></a></li><li class="toc-item toc-level-3"><a class="toc-link" href="#2-4-%E5%8F%AF%E8%A7%86%E5%8C%96%E8%AE%BE%E8%AE%A1"><span class="toc-number">1.2.4.</span> <span class="toc-text">2.4 可视化设计</span></a></li></ol></li><li class="toc-item toc-level-2"><a class="toc-link" href="#3-%E5%85%B3%E9%94%AE%E5%8F%82%E6%95%B0"><span class="toc-number">1.3.</span> <span class="toc-text">3. 关键参数</span></a></li><li class="toc-item toc-level-2"><a class="toc-link" href="#%E4%BB%A3%E7%A0%81%E5%AE%9E%E7%8E%B0"><span class="toc-number">1.4.</span> <span class="toc-text">代码实现</span></a></li></ol></li></ol></div></div><div class="card-widget card-recent-post"><div class="item-headline"><i class="fas fa-history"></i><span>最新文章</span></div><div class="aside-list"><div class="aside-list-item no-cover"><div class="content"><a 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